#include "inv_mpu.h"
#include "mpu6050.h"

// This is a simplified implementation for basic MPU6050 functionality
// For full DMP features, you would need the complete InvenSense library

static unsigned char chip_cfg_sensors = 0;
static unsigned short chip_cfg_gyro_fsr = 0;
static unsigned char chip_cfg_accel_fsr = 0;
static unsigned short chip_cfg_lpf = 0;
static unsigned short chip_cfg_sample_rate = 0;

/**
 * @brief Initialize MPU
 * @param int_param: interrupt configuration (can be NULL for basic usage)
 * @return 0 if success, -1 if error
 */
int mpu_init(struct int_param_s *int_param)
{
    // Use our MPU6050 driver for initialization
    if (MPU6050_Init() == 0) {
        chip_cfg_sensors = INV_XYZ_GYRO | INV_XYZ_ACCEL;
        chip_cfg_gyro_fsr = 2000;    // Default to ±2000 dps
        chip_cfg_accel_fsr = 2;      // Default to ±2g
        chip_cfg_lpf = 50;           // Default 50Hz LPF
        chip_cfg_sample_rate = 100;  // Default 100Hz sample rate
        return 0;
    }
    return -1;
}

/**
 * @brief Set I2C bypass mode
 * @param bypass_on: 1 to enable bypass, 0 to disable
 * @return 0 if success, -1 if error
 */
int mpu_set_bypass(unsigned char bypass_on)
{
    uint8_t reg_val = MPU6050_Read_Byte(MPU_INTBP_CFG_REG);
    if (bypass_on) {
        reg_val |= 0x02;  // Set I2C bypass enable
    } else {
        reg_val &= ~0x02; // Clear I2C bypass enable
    }
    return (MPU6050_Write_Byte(MPU_INTBP_CFG_REG, reg_val) == 0) ? 0 : -1;
}

/**
 * @brief Enable/disable sensors
 * @param sensors: sensor bitmask
 * @return 0 if success, -1 if error
 */
int mpu_set_sensors(unsigned char sensors)
{
    chip_cfg_sensors = sensors;
    // For basic implementation, we assume all sensors are always enabled
    return 0;
}

/**
 * @brief Set gyroscope full scale range
 * @param fsr: full scale range in dps
 * @return 0 if success, -1 if error
 */
int mpu_set_gyro_fsr(unsigned short fsr)
{
    uint8_t fsr_reg;
    
    switch (fsr) {
        case 250:
            fsr_reg = 0;
            break;
        case 500:
            fsr_reg = 1;
            break;
        case 1000:
            fsr_reg = 2;
            break;
        case 2000:
            fsr_reg = 3;
            break;
        default:
            return -1;
    }
    
    if (MPU6050_Set_Gyro_FSR(fsr_reg) == 0) {
        chip_cfg_gyro_fsr = fsr;
        return 0;
    }
    return -1;
}

/**
 * @brief Set accelerometer full scale range
 * @param fsr: full scale range in g
 * @return 0 if success, -1 if error
 */
int mpu_set_accel_fsr(unsigned char fsr)
{
    uint8_t fsr_reg;
    
    switch (fsr) {
        case 2:
            fsr_reg = 0;
            break;
        case 4:
            fsr_reg = 1;
            break;
        case 8:
            fsr_reg = 2;
            break;
        case 16:
            fsr_reg = 3;
            break;
        default:
            return -1;
    }
    
    if (MPU6050_Set_Accel_FSR(fsr_reg) == 0) {
        chip_cfg_accel_fsr = fsr;
        return 0;
    }
    return -1;
}

/**
 * @brief Set low pass filter
 * @param lpf: filter frequency in Hz
 * @return 0 if success, -1 if error
 */
int mpu_set_lpf(unsigned short lpf)
{
    if (MPU6050_Set_LPF(lpf) == 0) {
        chip_cfg_lpf = lpf;
        return 0;
    }
    return -1;
}

/**
 * @brief Set sample rate
 * @param rate: sample rate in Hz
 * @return 0 if success, -1 if error
 */
int mpu_set_sample_rate(unsigned short rate)
{
    if (MPU6050_Set_Rate(rate) == 0) {
        chip_cfg_sample_rate = rate;
        return 0;
    }
    return -1;
}

/**
 * @brief Get current sample rate
 * @param rate: pointer to store sample rate
 * @return 0 if success, -1 if error
 */
int mpu_get_sample_rate(unsigned short *rate)
{
    if (rate) {
        *rate = chip_cfg_sample_rate;
        return 0;
    }
    return -1;
}

/**
 * @brief Get gyroscope full scale range
 * @param fsr: pointer to store FSR
 * @return 0 if success, -1 if error
 */
int mpu_get_gyro_fsr(unsigned short *fsr)
{
    if (fsr) {
        *fsr = chip_cfg_gyro_fsr;
        return 0;
    }
    return -1;
}

/**
 * @brief Get accelerometer full scale range
 * @param fsr: pointer to store FSR
 * @return 0 if success, -1 if error
 */
int mpu_get_accel_fsr(unsigned char *fsr)
{
    if (fsr) {
        *fsr = chip_cfg_accel_fsr;
        return 0;
    }
    return -1;
}

/**
 * @brief Get low pass filter setting
 * @param lpf: pointer to store LPF
 * @return 0 if success, -1 if error
 */
int mpu_get_lpf(unsigned short *lpf)
{
    if (lpf) {
        *lpf = chip_cfg_lpf;
        return 0;
    }
    return -1;
}

/**
 * @brief Get gyroscope sensitivity
 * @param sens: pointer to store sensitivity
 * @return 0 if success, -1 if error
 */
int mpu_get_gyro_sens(float *sens)
{
    if (sens) {
        switch (chip_cfg_gyro_fsr) {
            case 250:
                *sens = 131.0f;
                break;
            case 500:
                *sens = 65.5f;
                break;
            case 1000:
                *sens = 32.8f;
                break;
            case 2000:
                *sens = 16.4f;
                break;
            default:
                return -1;
        }
        return 0;
    }
    return -1;
}

/**
 * @brief Get accelerometer sensitivity
 * @param sens: pointer to store sensitivity
 * @return 0 if success, -1 if error
 */
int mpu_get_accel_sens(float *sens)
{
    if (sens) {
        switch (chip_cfg_accel_fsr) {
            case 2:
                *sens = 16384.0f;
                break;
            case 4:
                *sens = 8192.0f;
                break;
            case 8:
                *sens = 4096.0f;
                break;
            case 16:
                *sens = 2048.0f;
                break;
            default:
                return -1;
        }
        return 0;
    }
    return -1;
}

// Placeholder implementations for other functions
int mpu_get_int_status(short *status) { return -1; }
int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp, unsigned char *sensors, unsigned char *more) { return -1; }
int mpu_read_fifo_stream(unsigned short length, unsigned char *data, unsigned char *more) { return -1; }
int mpu_reset_fifo(void) { return -1; }
int mpu_get_power_state(unsigned char *power_on) { return -1; }
int mpu_set_fifo_rate(unsigned short rate) { return -1; }
int mpu_get_fifo_rate(unsigned short *rate) { return -1; }
int mpu_get_fifo_config(unsigned char *sensors) { return -1; }
int mpu_configure_fifo(unsigned char sensors) { return -1; }
int mpu_get_gyro_reg(short *data, unsigned long *timestamp) { return -1; }
int mpu_get_accel_reg(short *data, unsigned long *timestamp) { return -1; }
int mpu_get_compass_reg(short *data, unsigned long *timestamp) { return -1; }
int mpu_get_temperature(long *data, unsigned long *timestamp) { return -1; }
int mpu_self_test(long *gyro, long *accel) { return -1; }
int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char)) { return -1; }
int mpu_set_dmp_state(unsigned char enable) { return -1; }
int mpu_get_dmp_state(unsigned char *enabled) { return -1; }
